10 accepted papers
Search and rescue operations require unmanned aerial vehicles to both traverse unknown unstructured environments at high speed and track targets once detected. Achieving both capabilities under degraded sensing and without global localization remains an open challenge. Recent works on relative navig…
Autonomous aerial target tracking in unstructured and GPS-denied environments remains a fundamental challenge in robotics. Many existing methods rely on motion capture systems, pre-mapped scenes, or feature-based localization to ensure safety and control, limiting their deployment in real-world cond…
Multi-quadrotor systems face significant challenges in decentralized control, particularly with safety and coordination under sensing and communication limitations. State-of-the-art methods leverage Control Barrier Functions (CBFs) to provide safety guarantees but often neglect actuation constraints
Reactive collision avoidance is essential for agile robots navigating complex and dynamic environments, enabling real-time obstacle response. However, this task is inherently challenging because it requires a tight integration of perception, planning, and control, which traditional methods often han
Accurate modeling of system dynamics is crucial for achieving high-performance planning and control of robotic systems. Although existing data-driven approaches represent a promising approach for modeling dynamics, their accuracy is limited to a short prediction horizon, overlooking the impact of co…
Visual control enables quadrotors to adaptively navigate using real-time sensory data, bridging perception with action. Yet, challenges persist, including generalization across scenarios, maintaining reliability, and ensuring real-time responsiveness. This paper introduces a perception framework gro…
Battery endurance represents a key challenge for long-term autonomy and long-range operations, especially in the case of aerial robots. In this paper, we propose AutoCharge, an autonomous charging solution for quadrotors that combines a portable ground station with a flexible, lightweight charging t…
Gaussian Processes (GPs) are expressive models for capturing signal statistics and expressing prediction uncer-tainty. As a result, the robotics community has gathered interest in leveraging these methods for inference, planning, and control. Unfortunately, despite providing a closed-form inference…
Due to noisy actuation and external disturbances, tuning controllers for high-speed flight is very challenging. In this letter, we ask the following questions: How sensitive are controllers to tuning when tracking high-speed maneuvers? What algorithms can we use to automatically tune them? To answer
Accurately modeling quadrotor's system dynamics is critical for guaranteeing agile, safe, and stable navigation. The model needs to capture the system behavior in multiple flight regimes and operating conditions, including those producing highly nonlinear effects such as aerodynamic forces and torqu